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<div class="title">ndt.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_NDT_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_NDT_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid_covariance.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;unsupported/Eigen/NonLinearOptimization&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html">   63</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_normal_distributions_transform.html">NormalDistributionsTransform</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_registration.html">Registration</a>&lt;PointSource, PointTarget&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget&gt;::PointCloudSource</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget&gt;::PointCloudTarget</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a0d245ca8e5df83bb576ea5bf61e513be">   79</a></span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html">VoxelGridCovariance&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a0d245ca8e5df83bb576ea5bf61e513be">TargetGrid</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#acd0bc0223e03d2453ab9e910877c6239">   81</a></span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html">TargetGrid</a>* <a class="code" href="classpcl_1_1_normal_distributions_transform.html#acd0bc0223e03d2453ab9e910877c6239">TargetGridPtr</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a4ce910fa207bd060f856268504dcd5da">   83</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html">TargetGrid</a>* <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a4ce910fa207bd060f856268504dcd5da">TargetGridConstPtr</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#ae241178695742c3cc138682b32f5f4b0">   85</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">TargetGrid::LeafConstPtr</a> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#ae241178695742c3cc138682b32f5f4b0">TargetGridLeafConstPtr</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; NormalDistributionsTransform&lt;PointSource, PointTarget&gt; &gt; Ptr;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const NormalDistributionsTransform&lt;PointSource, PointTarget&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#af7bf146541e1f56bbc890fb21581b228">NormalDistributionsTransform</a> ();</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#aacf2c41d361548584e398a44225896ce">  100</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#aacf2c41d361548584e398a44225896ce">~NormalDistributionsTransform</a> () {}</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#abc9909b2197aaa297edcffe1a0a2b1ae">  106</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#abc9909b2197aaa297edcffe1a0a2b1ae">setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">Registration&lt;PointSource, PointTarget&gt;::setInputTarget</a> (cloud);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1_normal_distributions_transform.html#abd92aa13bd087dafada2010c413905b7">init</a> ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a4b1282cd7399d47b02f210f47a47ccaa">  116</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a4b1282cd7399d47b02f210f47a47ccaa">setResolution</a> (<span class="keywordtype">float</span> resolution)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="comment">// Prevents unnessary voxel initiations</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">resolution_</a> != resolution)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">resolution_</a> = resolution;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            <a class="code" href="classpcl_1_1_normal_distributions_transform.html#abd92aa13bd087dafada2010c413905b7">init</a> ();</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a23d792fcdc2d052ed08571f5537e21a5">  131</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a23d792fcdc2d052ed08571f5537e21a5">getResolution</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">resolution_</a>);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a5b009e0b8e2ae8e5c1c97e6a66494b45">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a5b009e0b8e2ae8e5c1c97e6a66494b45">getStepSize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_normal_distributions_transform.html#a15165f7e13bbfbc6a2e5e54bc8ed5c28">step_size_</a>);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#af6e7b6e4d7129bb12d65477a56d99d99">  149</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#af6e7b6e4d7129bb12d65477a56d99d99">setStepSize</a> (<span class="keywordtype">double</span> step_size)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a15165f7e13bbfbc6a2e5e54bc8ed5c28">step_size_</a> = step_size;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#aedf43d53d08c848cab4ad95d8380bd1f">  158</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#aedf43d53d08c848cab4ad95d8380bd1f">getOulierRatio</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_normal_distributions_transform.html#a779d3b4c4f5181eb4f5ed6a660c66471">outlier_ratio_</a>);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#acb58f7261434f0670d2063cb6396b03c">  167</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#acb58f7261434f0670d2063cb6396b03c">setOulierRatio</a> (<span class="keywordtype">double</span> outlier_ratio)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a779d3b4c4f5181eb4f5ed6a660c66471">outlier_ratio_</a> = outlier_ratio;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a5ce68689eb10fe61b9e6427ba143cbf1">  176</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a5ce68689eb10fe61b9e6427ba143cbf1">getTransformationProbability</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_normal_distributions_transform.html#a0ce7df093334bfbfba42233e15b3fede">trans_probability_</a>);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a62b635e6111fa3e0a756cebadcc6f78b">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a62b635e6111fa3e0a756cebadcc6f78b">getFinalNumIteration</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a6957c3193d73098cb0535d6625d591d4">nr_iterations_</a>);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a60ca3541f15f9ffb2b0b0bc43b9d3d69">  195</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a60ca3541f15f9ffb2b0b0bc43b9d3d69">convertTransform</a> (<span class="keyword">const</span> Eigen::Matrix&lt;double, 6, 1&gt; &amp;x, Eigen::Affine3f &amp;trans)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        trans = Eigen::Translation&lt;float, 3&gt;(<span class="keywordtype">float</span> (x (0)), <span class="keywordtype">float</span> (x (1)), <span class="keywordtype">float</span> (x (2))) *</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                Eigen::AngleAxis&lt;float&gt;(<span class="keywordtype">float</span> (x (3)), Eigen::Vector3f::UnitX ()) *</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                Eigen::AngleAxis&lt;float&gt;(<span class="keywordtype">float</span> (x (4)), Eigen::Vector3f::UnitY ()) *</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                Eigen::AngleAxis&lt;float&gt;(<span class="keywordtype">float</span> (x (5)), Eigen::Vector3f::UnitZ ());</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a6cd487fcf59a975ca9b898a56a429a5f">  208</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a6cd487fcf59a975ca9b898a56a429a5f">convertTransform</a> (<span class="keyword">const</span> Eigen::Matrix&lt;double, 6, 1&gt; &amp;x, Eigen::Matrix4f &amp;trans)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        Eigen::Affine3f _affine;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a60ca3541f15f9ffb2b0b0bc43b9d3d69">convertTransform</a> (x, _affine);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        trans = _affine.matrix ();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::getClassName</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::input_</a>;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::indices_</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::target_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::nr_iterations_</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::previous_transformation_</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_epsilon_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::converged_</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::corr_dist_threshold_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::inlier_threshold_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::update_visualizer_</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a60ae727dd5185e7fc804b4d8de973a85">  238</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a60ae727dd5185e7fc804b4d8de973a85">computeTransformation</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> &amp;output)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a60ae727dd5185e7fc804b4d8de973a85">computeTransformation</a> (output, Eigen::Matrix4f::Identity ());</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a60ae727dd5185e7fc804b4d8de973a85">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Eigen::Matrix4f &amp;guess);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keywordtype">void</span> <span class="keyword">inline</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#abd92aa13bd087dafada2010c413905b7">  252</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#abd92aa13bd087dafada2010c413905b7">init</a> ()</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <a class="code" href="classpcl_1_1_normal_distributions_transform.html#acb7ebafdcdf51bb6a2209c66d7838fb0">target_cells_</a>.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (<a class="code" href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">resolution_</a>, <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">resolution_</a>, <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">resolution_</a>);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <a class="code" href="classpcl_1_1_normal_distributions_transform.html#acb7ebafdcdf51bb6a2209c66d7838fb0">target_cells_</a>.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> ( <a class="code" href="classpcl_1_1_registration.html#af9ac08a379a3b5db44c5c502cf6a882e">target_</a> );</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <span class="comment">// Initiate voxel structure.</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <a class="code" href="classpcl_1_1_normal_distributions_transform.html#acb7ebafdcdf51bb6a2209c66d7838fb0">target_cells_</a>.<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a6612d6ae521e766fee6a4e2bf833f643">filter</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a2eb79c026d9ec3bde70cf4b53377aa53">computeDerivatives</a> (Eigen::Matrix&lt;double, 6, 1&gt; &amp;score_gradient,</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                          Eigen::Matrix&lt;double, 6, 6&gt; &amp;hessian,</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                          PointCloudSource &amp;trans_cloud,</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                          Eigen::Matrix&lt;double, 6, 1&gt; &amp;p,</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                          <span class="keywordtype">bool</span> compute_hessian = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#ad006c7315b1f52de25efc41183c5ed60">updateDerivatives</a> (Eigen::Matrix&lt;double, 6, 1&gt; &amp;score_gradient,</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                         Eigen::Matrix&lt;double, 6, 6&gt; &amp;hessian,</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                         Eigen::Vector3d &amp;x_trans, Eigen::Matrix3d &amp;c_inv,</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                         <span class="keywordtype">bool</span> compute_hessian = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#af99468f56f6bb95bef79193ab0b16205">computeAngleDerivatives</a> (Eigen::Matrix&lt;double, 6, 1&gt; &amp;p, <span class="keywordtype">bool</span> compute_hessian = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#acdba743aa6ea3747e2fddeed10cc5ec1">computePointDerivatives</a> (Eigen::Vector3d &amp;x, <span class="keywordtype">bool</span> compute_hessian = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a12a31cfee6372534d795c1f65fbfbd2d">computeHessian</a> (Eigen::Matrix&lt;double, 6, 6&gt; &amp;hessian,</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;                      PointCloudSource &amp;trans_cloud,</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;                      Eigen::Matrix&lt;double, 6, 1&gt; &amp;p);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
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<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a9c6bd836040e430eea730cd6d16694f9">updateHessian</a> (Eigen::Matrix&lt;double, 6, 6&gt; &amp;hessian,</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                     Eigen::Vector3d &amp;x_trans, Eigen::Matrix3d &amp;c_inv);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a92103be9ce6dc6838d13353358daa852">computeStepLengthMT</a> (<span class="keyword">const</span> Eigen::Matrix&lt;double, 6, 1&gt; &amp;x,</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                           Eigen::Matrix&lt;double, 6, 1&gt; &amp;step_dir,</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                           <span class="keywordtype">double</span> step_init,</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                           <span class="keywordtype">double</span> step_max, <span class="keywordtype">double</span> step_min,</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;                           <span class="keywordtype">double</span> &amp;score,</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;                           Eigen::Matrix&lt;double, 6, 1&gt; &amp;score_gradient,</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;                           Eigen::Matrix&lt;double, 6, 6&gt; &amp;hessian,</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;                           PointCloudSource &amp;trans_cloud);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#acef200272607a40dc9890481f11c2480">updateIntervalMT</a> (<span class="keywordtype">double</span> &amp;a_l, <span class="keywordtype">double</span> &amp;f_l, <span class="keywordtype">double</span> &amp;g_l,</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;                        <span class="keywordtype">double</span> &amp;a_u, <span class="keywordtype">double</span> &amp;f_u, <span class="keywordtype">double</span> &amp;g_u,</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;                        <span class="keywordtype">double</span> a_t, <span class="keywordtype">double</span> f_t, <span class="keywordtype">double</span> g_t);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a7ae4590ac0242cb320ea6f29e1b93ba6">trialValueSelectionMT</a> (<span class="keywordtype">double</span> a_l, <span class="keywordtype">double</span> f_l, <span class="keywordtype">double</span> g_l,</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;                             <span class="keywordtype">double</span> a_u, <span class="keywordtype">double</span> f_u, <span class="keywordtype">double</span> g_u,</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;                             <span class="keywordtype">double</span> a_t, <span class="keywordtype">double</span> f_t, <span class="keywordtype">double</span> g_t);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a8fc05efdb729b163d4e3f175186b5e5a">  399</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a8fc05efdb729b163d4e3f175186b5e5a">auxilaryFunction_PsiMT</a> (<span class="keywordtype">double</span> a, <span class="keywordtype">double</span> f_a, <span class="keywordtype">double</span> f_0, <span class="keywordtype">double</span> g_0, <span class="keywordtype">double</span> mu = 1.e-4)</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      {</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        <span class="keywordflow">return</span> (f_a - f_0 - mu * g_0 * a);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00412"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a93428f5aa08e84203bde53cd554c6794">  412</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a93428f5aa08e84203bde53cd554c6794">auxilaryFunction_dPsiMT</a> (<span class="keywordtype">double</span> g_a, <span class="keywordtype">double</span> g_0, <span class="keywordtype">double</span> mu = 1.e-4)</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      {</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        <span class="keywordflow">return</span> (g_a - mu * g_0);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      }</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#acb7ebafdcdf51bb6a2209c66d7838fb0">  418</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html">TargetGrid</a> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#acb7ebafdcdf51bb6a2209c66d7838fb0">target_cells_</a>;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="comment">//double fitness_epsilon_;</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">  423</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">resolution_</a>;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a15165f7e13bbfbc6a2e5e54bc8ed5c28">  426</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a15165f7e13bbfbc6a2e5e54bc8ed5c28">step_size_</a>;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a779d3b4c4f5181eb4f5ed6a660c66471">  429</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a779d3b4c4f5181eb4f5ed6a660c66471">outlier_ratio_</a>;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a7b014c047dcf7fb8d5285e1cffeb125c">  432</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a7b014c047dcf7fb8d5285e1cffeb125c">gauss_d1_</a>, gauss_d2_;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a0ce7df093334bfbfba42233e15b3fede">  435</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a0ce7df093334bfbfba42233e15b3fede">trans_probability_</a>;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#a583433afdfb7aa6e817fb5603753b3f3">  441</a></span>&#160;      Eigen::Vector3d <a class="code" href="classpcl_1_1_normal_distributions_transform.html#a583433afdfb7aa6e817fb5603753b3f3">j_ang_a_</a>, j_ang_b_, j_ang_c_, j_ang_d_, j_ang_e_, j_ang_f_, j_ang_g_, j_ang_h_;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#aa87d6f6163465d5952f385120819169b">  447</a></span>&#160;      Eigen::Vector3d <a class="code" href="classpcl_1_1_normal_distributions_transform.html#aa87d6f6163465d5952f385120819169b">h_ang_a2_</a>, h_ang_a3_,</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;                      h_ang_b2_, h_ang_b3_,</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;                      h_ang_c2_, h_ang_c3_,</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                      h_ang_d1_, h_ang_d2_, h_ang_d3_,</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;                      h_ang_e1_, h_ang_e2_, h_ang_e3_,</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;                      h_ang_f1_, h_ang_f2_, h_ang_f3_;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
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<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform.html#ad2250a36e3b63a879bac14df26272e4d">  458</a></span>&#160;      Eigen::Matrix&lt;double, 18, 6&gt; <a class="code" href="classpcl_1_1_normal_distributions_transform.html#ad2250a36e3b63a879bac14df26272e4d">point_hessian_</a>;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;  };</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;}</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/ndt.hpp&gt;</span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_REGISTRATION_NDT_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html">pcl::NormalDistributionsTransform</a></div><div class="ttdoc">A 3D Normal Distribution Transform registration implementation for point cloud data.</div><div class="ttdef"><b>Definition:</b> ndt.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a03884aff71b4d6263ea6b4a3346b87b1"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a03884aff71b4d6263ea6b4a3346b87b1">pcl::NormalDistributionsTransform::point_gradient_</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 3, 6 &gt; point_gradient_</div><div class="ttdoc">The first order derivative of the transformation of a point w.r.t. the transform vector,...</div><div class="ttdef"><b>Definition:</b> ndt.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a0ce7df093334bfbfba42233e15b3fede"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a0ce7df093334bfbfba42233e15b3fede">pcl::NormalDistributionsTransform::trans_probability_</a></div><div class="ttdeci">double trans_probability_</div><div class="ttdoc">The probability score of the transform applied to the input cloud, Equation 6.9 and 6....</div><div class="ttdef"><b>Definition:</b> ndt.h:435</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a0d245ca8e5df83bb576ea5bf61e513be"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a0d245ca8e5df83bb576ea5bf61e513be">pcl::NormalDistributionsTransform::TargetGrid</a></div><div class="ttdeci">VoxelGridCovariance&lt; PointTarget &gt; TargetGrid</div><div class="ttdoc">Typename of searchable voxel grid containing mean and covariance.</div><div class="ttdef"><b>Definition:</b> ndt.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a12a31cfee6372534d795c1f65fbfbd2d"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a12a31cfee6372534d795c1f65fbfbd2d">pcl::NormalDistributionsTransform::computeHessian</a></div><div class="ttdeci">void computeHessian(Eigen::Matrix&lt; double, 6, 6 &gt; &amp;hessian, PointCloudSource &amp;trans_cloud, Eigen::Matrix&lt; double, 6, 1 &gt; &amp;p)</div><div class="ttdoc">Compute hessian of probability function w.r.t. the transformation vector.</div><div class="ttdef"><b>Definition:</b> ndt.hpp:397</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a15165f7e13bbfbc6a2e5e54bc8ed5c28"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a15165f7e13bbfbc6a2e5e54bc8ed5c28">pcl::NormalDistributionsTransform::step_size_</a></div><div class="ttdeci">double step_size_</div><div class="ttdoc">The maximum step length.</div><div class="ttdef"><b>Definition:</b> ndt.h:426</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a23d792fcdc2d052ed08571f5537e21a5"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a23d792fcdc2d052ed08571f5537e21a5">pcl::NormalDistributionsTransform::getResolution</a></div><div class="ttdeci">float getResolution() const</div><div class="ttdoc">Get voxel grid resolution.</div><div class="ttdef"><b>Definition:</b> ndt.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a2eb79c026d9ec3bde70cf4b53377aa53"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a2eb79c026d9ec3bde70cf4b53377aa53">pcl::NormalDistributionsTransform::computeDerivatives</a></div><div class="ttdeci">double computeDerivatives(Eigen::Matrix&lt; double, 6, 1 &gt; &amp;score_gradient, Eigen::Matrix&lt; double, 6, 6 &gt; &amp;hessian, PointCloudSource &amp;trans_cloud, Eigen::Matrix&lt; double, 6, 1 &gt; &amp;p, bool compute_hessian=true)</div><div class="ttdoc">Compute derivatives of probability function w.r.t. the transformation vector.</div><div class="ttdef"><b>Definition:</b> ndt.hpp:176</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a4b1282cd7399d47b02f210f47a47ccaa"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a4b1282cd7399d47b02f210f47a47ccaa">pcl::NormalDistributionsTransform::setResolution</a></div><div class="ttdeci">void setResolution(float resolution)</div><div class="ttdoc">Set/change the voxel grid resolution.</div><div class="ttdef"><b>Definition:</b> ndt.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a4ce910fa207bd060f856268504dcd5da"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a4ce910fa207bd060f856268504dcd5da">pcl::NormalDistributionsTransform::TargetGridConstPtr</a></div><div class="ttdeci">const TargetGrid * TargetGridConstPtr</div><div class="ttdoc">Typename of const pointer to searchable voxel grid.</div><div class="ttdef"><b>Definition:</b> ndt.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a583433afdfb7aa6e817fb5603753b3f3"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a583433afdfb7aa6e817fb5603753b3f3">pcl::NormalDistributionsTransform::j_ang_a_</a></div><div class="ttdeci">Eigen::Vector3d j_ang_a_</div><div class="ttdoc">Precomputed Angular Gradient</div><div class="ttdef"><b>Definition:</b> ndt.h:441</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a5b009e0b8e2ae8e5c1c97e6a66494b45"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a5b009e0b8e2ae8e5c1c97e6a66494b45">pcl::NormalDistributionsTransform::getStepSize</a></div><div class="ttdeci">double getStepSize() const</div><div class="ttdoc">Get the newton line search maximum step length.</div><div class="ttdef"><b>Definition:</b> ndt.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a5ce68689eb10fe61b9e6427ba143cbf1"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a5ce68689eb10fe61b9e6427ba143cbf1">pcl::NormalDistributionsTransform::getTransformationProbability</a></div><div class="ttdeci">double getTransformationProbability() const</div><div class="ttdoc">Get the registration alignment probability.</div><div class="ttdef"><b>Definition:</b> ndt.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a60ae727dd5185e7fc804b4d8de973a85"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a60ae727dd5185e7fc804b4d8de973a85">pcl::NormalDistributionsTransform::computeTransformation</a></div><div class="ttdeci">virtual void computeTransformation(PointCloudSource &amp;output)</div><div class="ttdoc">Estimate the transformation and returns the transformed source (input) as output.</div><div class="ttdef"><b>Definition:</b> ndt.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a60ca3541f15f9ffb2b0b0bc43b9d3d69"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a60ca3541f15f9ffb2b0b0bc43b9d3d69">pcl::NormalDistributionsTransform::convertTransform</a></div><div class="ttdeci">static void convertTransform(const Eigen::Matrix&lt; double, 6, 1 &gt; &amp;x, Eigen::Affine3f &amp;trans)</div><div class="ttdoc">Convert 6 element transformation vector to affine transformation.</div><div class="ttdef"><b>Definition:</b> ndt.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a62b635e6111fa3e0a756cebadcc6f78b"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a62b635e6111fa3e0a756cebadcc6f78b">pcl::NormalDistributionsTransform::getFinalNumIteration</a></div><div class="ttdeci">int getFinalNumIteration() const</div><div class="ttdoc">Get the number of iterations required to calculate alignment.</div><div class="ttdef"><b>Definition:</b> ndt.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a6cd487fcf59a975ca9b898a56a429a5f"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a6cd487fcf59a975ca9b898a56a429a5f">pcl::NormalDistributionsTransform::convertTransform</a></div><div class="ttdeci">static void convertTransform(const Eigen::Matrix&lt; double, 6, 1 &gt; &amp;x, Eigen::Matrix4f &amp;trans)</div><div class="ttdoc">Convert 6 element transformation vector to transformation matrix.</div><div class="ttdef"><b>Definition:</b> ndt.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a779d3b4c4f5181eb4f5ed6a660c66471"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a779d3b4c4f5181eb4f5ed6a660c66471">pcl::NormalDistributionsTransform::outlier_ratio_</a></div><div class="ttdeci">double outlier_ratio_</div><div class="ttdoc">The ratio of outliers of points w.r.t. a normal distribution, Equation 6.7 [Magnusson 2009].</div><div class="ttdef"><b>Definition:</b> ndt.h:429</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a7ae4590ac0242cb320ea6f29e1b93ba6"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a7ae4590ac0242cb320ea6f29e1b93ba6">pcl::NormalDistributionsTransform::trialValueSelectionMT</a></div><div class="ttdeci">double trialValueSelectionMT(double a_l, double f_l, double g_l, double a_u, double f_u, double g_u, double a_t, double f_t, double g_t)</div><div class="ttdoc">Select new trial value for More-Thuente method.</div><div class="ttdef"><b>Definition:</b> ndt.hpp:521</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a7b014c047dcf7fb8d5285e1cffeb125c"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a7b014c047dcf7fb8d5285e1cffeb125c">pcl::NormalDistributionsTransform::gauss_d1_</a></div><div class="ttdeci">double gauss_d1_</div><div class="ttdoc">The normalization constants used fit the point distribution to a normal distribution,...</div><div class="ttdef"><b>Definition:</b> ndt.h:432</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a8fc05efdb729b163d4e3f175186b5e5a"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a8fc05efdb729b163d4e3f175186b5e5a">pcl::NormalDistributionsTransform::auxilaryFunction_PsiMT</a></div><div class="ttdeci">double auxilaryFunction_PsiMT(double a, double f_a, double f_0, double g_0, double mu=1.e-4)</div><div class="ttdoc">Auxilary function used to determin endpoints of More-Thuente interval.</div><div class="ttdef"><b>Definition:</b> ndt.h:399</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a92103be9ce6dc6838d13353358daa852"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a92103be9ce6dc6838d13353358daa852">pcl::NormalDistributionsTransform::computeStepLengthMT</a></div><div class="ttdeci">double computeStepLengthMT(const Eigen::Matrix&lt; double, 6, 1 &gt; &amp;x, Eigen::Matrix&lt; double, 6, 1 &gt; &amp;step_dir, double step_init, double step_max, double step_min, double &amp;score, Eigen::Matrix&lt; double, 6, 1 &gt; &amp;score_gradient, Eigen::Matrix&lt; double, 6, 6 &gt; &amp;hessian, PointCloudSource &amp;trans_cloud)</div><div class="ttdoc">Compute line search step length and update transform and probability derivatives using More-Thuente m...</div><div class="ttdef"><b>Definition:</b> ndt.hpp:604</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a93428f5aa08e84203bde53cd554c6794"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a93428f5aa08e84203bde53cd554c6794">pcl::NormalDistributionsTransform::auxilaryFunction_dPsiMT</a></div><div class="ttdeci">double auxilaryFunction_dPsiMT(double g_a, double g_0, double mu=1.e-4)</div><div class="ttdoc">Auxilary function derivative used to determin endpoints of More-Thuente interval.</div><div class="ttdef"><b>Definition:</b> ndt.h:412</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a979b1ab50b52b130e0b29fda50e0afb0"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a979b1ab50b52b130e0b29fda50e0afb0">pcl::NormalDistributionsTransform::resolution_</a></div><div class="ttdeci">float resolution_</div><div class="ttdoc">The side length of voxels.</div><div class="ttdef"><b>Definition:</b> ndt.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_a9c6bd836040e430eea730cd6d16694f9"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#a9c6bd836040e430eea730cd6d16694f9">pcl::NormalDistributionsTransform::updateHessian</a></div><div class="ttdeci">void updateHessian(Eigen::Matrix&lt; double, 6, 6 &gt; &amp;hessian, Eigen::Vector3d &amp;x_trans, Eigen::Matrix3d &amp;c_inv)</div><div class="ttdoc">Compute individual point contirbutions to hessian of probability function w.r.t. the transformation v...</div><div class="ttdef"><b>Definition:</b> ndt.hpp:449</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_aa87d6f6163465d5952f385120819169b"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#aa87d6f6163465d5952f385120819169b">pcl::NormalDistributionsTransform::h_ang_a2_</a></div><div class="ttdeci">Eigen::Vector3d h_ang_a2_</div><div class="ttdoc">Precomputed Angular Hessian</div><div class="ttdef"><b>Definition:</b> ndt.h:447</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_aacf2c41d361548584e398a44225896ce"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#aacf2c41d361548584e398a44225896ce">pcl::NormalDistributionsTransform::~NormalDistributionsTransform</a></div><div class="ttdeci">virtual ~NormalDistributionsTransform()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> ndt.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_abc9909b2197aaa297edcffe1a0a2b1ae"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#abc9909b2197aaa297edcffe1a0a2b1ae">pcl::NormalDistributionsTransform::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...</div><div class="ttdef"><b>Definition:</b> ndt.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_abd92aa13bd087dafada2010c413905b7"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#abd92aa13bd087dafada2010c413905b7">pcl::NormalDistributionsTransform::init</a></div><div class="ttdeci">void init()</div><div class="ttdoc">Initiate covariance voxel structure.</div><div class="ttdef"><b>Definition:</b> ndt.h:252</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_acb58f7261434f0670d2063cb6396b03c"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#acb58f7261434f0670d2063cb6396b03c">pcl::NormalDistributionsTransform::setOulierRatio</a></div><div class="ttdeci">void setOulierRatio(double outlier_ratio)</div><div class="ttdoc">Set/change the point cloud outlier ratio.</div><div class="ttdef"><b>Definition:</b> ndt.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_acb7ebafdcdf51bb6a2209c66d7838fb0"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#acb7ebafdcdf51bb6a2209c66d7838fb0">pcl::NormalDistributionsTransform::target_cells_</a></div><div class="ttdeci">TargetGrid target_cells_</div><div class="ttdoc">The voxel grid generated from target cloud containing point means and covariances.</div><div class="ttdef"><b>Definition:</b> ndt.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_acd0bc0223e03d2453ab9e910877c6239"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#acd0bc0223e03d2453ab9e910877c6239">pcl::NormalDistributionsTransform::TargetGridPtr</a></div><div class="ttdeci">TargetGrid * TargetGridPtr</div><div class="ttdoc">Typename of pointer to searchable voxel grid.</div><div class="ttdef"><b>Definition:</b> ndt.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_acdba743aa6ea3747e2fddeed10cc5ec1"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#acdba743aa6ea3747e2fddeed10cc5ec1">pcl::NormalDistributionsTransform::computePointDerivatives</a></div><div class="ttdeci">void computePointDerivatives(Eigen::Vector3d &amp;x, bool compute_hessian=true)</div><div class="ttdoc">Compute point derivatives.</div><div class="ttdef"><b>Definition:</b> ndt.hpp:310</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_acef200272607a40dc9890481f11c2480"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#acef200272607a40dc9890481f11c2480">pcl::NormalDistributionsTransform::updateIntervalMT</a></div><div class="ttdeci">bool updateIntervalMT(double &amp;a_l, double &amp;f_l, double &amp;g_l, double &amp;a_u, double &amp;f_u, double &amp;g_u, double a_t, double f_t, double g_t)</div><div class="ttdoc">Update interval of possible step lengths for More-Thuente method,  in More-Thuente (1994)</div><div class="ttdef"><b>Definition:</b> ndt.hpp:480</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_ad006c7315b1f52de25efc41183c5ed60"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#ad006c7315b1f52de25efc41183c5ed60">pcl::NormalDistributionsTransform::updateDerivatives</a></div><div class="ttdeci">double updateDerivatives(Eigen::Matrix&lt; double, 6, 1 &gt; &amp;score_gradient, Eigen::Matrix&lt; double, 6, 6 &gt; &amp;hessian, Eigen::Vector3d &amp;x_trans, Eigen::Matrix3d &amp;c_inv, bool compute_hessian=true)</div><div class="ttdoc">Compute individual point contirbutions to derivatives of probability function w.r....</div><div class="ttdef"><b>Definition:</b> ndt.hpp:351</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_ad2250a36e3b63a879bac14df26272e4d"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#ad2250a36e3b63a879bac14df26272e4d">pcl::NormalDistributionsTransform::point_hessian_</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 18, 6 &gt; point_hessian_</div><div class="ttdoc">The second order derivative of the transformation of a point w.r.t. the transform vector,...</div><div class="ttdef"><b>Definition:</b> ndt.h:458</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_ae241178695742c3cc138682b32f5f4b0"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#ae241178695742c3cc138682b32f5f4b0">pcl::NormalDistributionsTransform::TargetGridLeafConstPtr</a></div><div class="ttdeci">TargetGrid::LeafConstPtr TargetGridLeafConstPtr</div><div class="ttdoc">Typename of const pointer to searchable voxel grid leaf.</div><div class="ttdef"><b>Definition:</b> ndt.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_aedf43d53d08c848cab4ad95d8380bd1f"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#aedf43d53d08c848cab4ad95d8380bd1f">pcl::NormalDistributionsTransform::getOulierRatio</a></div><div class="ttdeci">double getOulierRatio() const</div><div class="ttdoc">Get the point cloud outlier ratio.</div><div class="ttdef"><b>Definition:</b> ndt.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_af6e7b6e4d7129bb12d65477a56d99d99"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#af6e7b6e4d7129bb12d65477a56d99d99">pcl::NormalDistributionsTransform::setStepSize</a></div><div class="ttdeci">void setStepSize(double step_size)</div><div class="ttdoc">Set/change the newton line search maximum step length.</div><div class="ttdef"><b>Definition:</b> ndt.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_af7bf146541e1f56bbc890fb21581b228"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#af7bf146541e1f56bbc890fb21581b228">pcl::NormalDistributionsTransform::NormalDistributionsTransform</a></div><div class="ttdeci">NormalDistributionsTransform()</div><div class="ttdoc">Constructor. Sets outlier_ratio_ to 0.35, step_size_ to 0.05 and resolution_ to 1....</div><div class="ttdef"><b>Definition:</b> ndt.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform_html_af99468f56f6bb95bef79193ab0b16205"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform.html#af99468f56f6bb95bef79193ab0b16205">pcl::NormalDistributionsTransform::computeAngleDerivatives</a></div><div class="ttdeci">void computeAngleDerivatives(Eigen::Matrix&lt; double, 6, 1 &gt; &amp;p, bool compute_hessian=true)</div><div class="ttdoc">Precompute anglular components of derivatives.</div><div class="ttdef"><b>Definition:</b> ndt.hpp:233</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointSource &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a4c4e69008295052913c76175797b99a9"><div class="ttname"><a href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">pcl::Registration::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...</div><div class="ttdef"><b>Definition:</b> registration.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a6957c3193d73098cb0535d6625d591d4"><div class="ttname"><a href="classpcl_1_1_registration.html#a6957c3193d73098cb0535d6625d591d4">pcl::Registration::nr_iterations_</a></div><div class="ttdeci">int nr_iterations_</div><div class="ttdoc">The number of iterations the internal optimization ran for (used internally).</div><div class="ttdef"><b>Definition:</b> registration.h:491</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_af9ac08a379a3b5db44c5c502cf6a882e"><div class="ttname"><a href="classpcl_1_1_registration.html#af9ac08a379a3b5db44c5c502cf6a882e">pcl::Registration::target_</a></div><div class="ttdeci">PointCloudTargetConstPtr target_</div><div class="ttdoc">The input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> registration.h:502</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance&lt; PointTarget &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a6612d6ae521e766fee6a4e2bf833f643"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a6612d6ae521e766fee6a4e2bf833f643">pcl::VoxelGridCovariance::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output, bool searchable=false)</div><div class="ttdoc">Filter cloud and initializes voxel structure.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:267</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a7cd5f4e0a702dfd45de8654f1a008c91"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">pcl::VoxelGridCovariance&lt; PointTarget &gt;::LeafConstPtr</a></div><div class="ttdeci">const Leaf * LeafConstPtr</div><div class="ttdoc">Const pointer to VoxelGridCovariance leaf structure</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
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